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Can body position and sleep stages influence motor patterns in periodic limb movement disorder?

SLEEP MEDICINE 2019年 62卷 32-33页

作者： Mutti, Carlotta Ciliento, Rosario Melpignano, Andrea Trippi, Irene Bernabe, Giorgia Zinno, Lucia Parrino, Liborio Univ Hosp Parma Sleep Disorders Ctr Via Gramsci 14 I-43126 Parma PR Italy Univ Hosp Parma Neurol Unit Dept Gen & Specialist Med Parma Italy

Highlights•Periodic limb movements disorder (PLMD) has been associated with activation of central pattern generators (CPG). •Position changes may act as inputs capable of inducing CPG activation. •Sleep stages and cyc... 详细信息

关键词： Periodic limb movements central pattern generators Sleep stages

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Policy gradient optimization of controllers for natural dynamic mono-pedal gait

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BIOINSPIRATION & BIOMIMETICS 2020年第3期15卷 036010-036010页

作者： Schallheim, Israel Zacksenhouse, Miriam Technion Israel Inst Technol Mech Engn Haifa Israel

We have previously suggested a biologically-inspired natural dynamic controller for biped locomotion, which applies torque pulses to the different joints at particular phases of an internal phase variable. The parameters of the controller, including the timing and magnitude of the torque pulses and the dynamics of the phase variable, can be kept constant in open loop or adapted to the environment in closed loop. Here we demonstrate the implementation of this approach to a mono-ped robot and the optimization of the controller parameters to enhance robustness via policy gradient. Policy gradient was applied in simulations rather than the actual robot due to safety and hardware considerations. A grounded action transformation (GAT) was learned and used to facilitate the transfer of the learned policy from simulation to hardware. We demonstrate how GAT improves the match between simulations and experiments and how learning enhances the performance and robustness of the mono-ped robot.

关键词： policy gradient biped locomotion reality gap sim 2 real legged locomotion central pattern generators natural dynamics

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Innate releasing mechanisms and fixed action patterns: basic ethological concepts as drivers for neuroethological studies on acoustic communication in Orthoptera

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JOURNAL OF COMPARATIVE PHYSIOLOGY A-NEUROETHOLOGY SENSORY NEURAL AND BEHAVIORAL PHYSIOLOGY 2019年第1期205卷 33-50页

作者： Ronacher, Bernhard Humboldt Univ Behav Physiol Grp Dept Biol Philippstr 13Haus 18 D-10099 Berlin Germany

This review addresses the history of neuroethological studies on acoustic communication in insects. One objective is to reveal how basic ethological concepts developed in the 1930s, such as innate releasing mechanisms and fixed action patterns, have influenced the experimental and theoretical approaches to studying acoustic communication systems in Orthopteran insects. The idea of innateness of behaviors has directly fostered the search for central pattern generators that govern the stridulation patterns of crickets, katydids or grasshoppers. A central question pervading 50 years of research is how the essential match between signal features and receiver characteristics has evolved and is maintained during evolution. As in other disciplines, the tight interplay between technological developments and experimental and theoretical advances becomes evident throughout this review. While early neuroethological studies focused primarily on proximate questions such as the implementation of feature detectors or central pattern generators, later the interest shifted more towards ultimate questions. Orthoptera offer the advantage that both proximate and ultimate questions can be tackled in the same system. An important advance was the transition from laboratory studies under well-defined acoustic conditions to field studies that allowed to measure costs and benefits of acoustic signaling as well as constraints on song evolution.

关键词： Acoustic communication central pattern generators "Genetic coupling' Coevolution Sender-receiver evolution

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Computational exposition of multistable rhythms in 4-cell neural circuits

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COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION 2020年 83卷 105139-105139页

作者： Pusuluri, Krishna Basodi, Sunitha Shilnikov, Andrey Georgia State Univ Petit Sci Ctr Neurosci Inst 100 Piedmont Ave Atlanta GA 30303 USA Georgia State Univ Dept Comp Sci 25 Pk Pl NE Atlanta GA 30303 USA Georgia State Univ Petit Sci Ctr Dept Math & Stat 100 Piedmont Ave Atlanta GA 30303 USA

The co-existence of multistable rhythms generated by oscillatory neural circuits made up of 4 and more cells, their onset, stability conditions, and the transitions between such rhythms are not well understood. This is partly due to the lack of appropriate visual and computational tools. In this study, we employ modern computational approaches including unsupervised machine learning (clustering) algorithms and fast parallel simulations powered by graphics processing units (GPUs) to further extend our previously developed techniques based on the theory of dynamical systems and bifurcations. This allows us to analyze the fundamental principles and mechanisms that ensure the robustness and multifunctionality of such neural circuits. In addition, we examine how network topology affects the dynamics, and the rhythmic patterns transition/bifurcate as network configurations are altered and the intrinsic properties of the cells and the synapses are varied. This study elaborates on a set of inhibitory coupled 4-cell circuits that can exhibit a variety of mono- and multistable rhythms including pacemakers, paired half-centers, traveling-waves, synchronized states, as well as various chimeras. Our detailed analysis is helpful to generate verifiable hypotheses for neurophysiological experiments with biological central pattern generators. (C) 2019 Elsevier B.V. All rights reserved.

关键词： Bifurcations Multistability central pattern generators Unsupervised machine learning Dynamical systems Clustering Poincarereturn maps

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Epilepsy and parasomnias. Differential diagnosis and pathophysiology of sleep-related events

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ZEITSCHRIFT FUR EPILEPTOLOGIE 2019年第1期32卷 21-28页

作者： Voges, Berthold Evangel Krankenhaus Alsterdorf Epilepsiezentrum Hamburg Elisabeth Flugge Str 1 D-22337 Hamburg Germany

For differentiation of sleep-related events in epileptic seizures or parasomnia, the following diagnostic features may be helpful: family history, age of first manifestation, appearance in 1st or 2nd half of night, frequency and duration of events, stereotype and complexity of behavior or speech during the event, extent of target orientation and consistency of actions, arousal and interactivity during the event as well as behavior and memory after the event. None of these items alone can prove or exclude one diagnosis or the other. In addition, epilepsy and parasomnia may be coincident in the same patient. For this, in ambiguous cases long-term video electroencephalograph (EEG) monitoring, preferably together with polysomnography, is required to find the correct diagnosis. The sometimes striking similarity in the semiology of non-rapid eye movement (NREM) parasomnia and epileptic seizures can be explained by an overlap in the pathophysiological processes. In NREM parasomnia adissociated, local arousal of subcortical networks, together with persistence of deep sleep in the frontoparietal cortex, may induce an acting-out of subcortically stored, primitive behavior patterns. In epiletic seizures, focal hyperexcitation of cingulate or limbic networks may induce the manifestation of the same behavior patterns. Therapeutic strategies for the suppression of NREM parasomnia are avoidance of triggering medication, treatment of arousal-inducing somnological diseases, behavioral therapy for stabilization of sleep structure and finally symptomatic medication treatment with low-dose clonazepam as first-line drug.

关键词： Semiology Differential diagnosis Pathophysiology Dissociated arousal central pattern generators

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Improved CPG Model Based on Hopf Oscillator for Gait Design of a New Type of Hexapod Robot 12th

Improved CPG Model Based on Hopf Oscillator for Gait Design ...

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12th International Conference on Intelligent Robotics and Applications (ICIRA)

作者： Li, Xiangyu Liu, Hong Wu, Xuan Li, Rui Wang, Xiaojie Chongqing Univ Posts & Telecommun Engn Res Ctr Automot Elect & Embedded Syst Chongqing 400065 Peoples R China Chinese Acad Sci Inst Adv Mfg Technol Hefei Inst Phys Sci Changzhou 213164 Peoples R China

ISBN: (纸本)9783030275327;9783030275310

We proposed and designed a new type of hexapod robot leg structure with four-bar linkage mechanism to replace the most used bare joints for hexapod robots. The new design reducing the weight of the legs as well as the robot body inertia could offer a way to control the hexapod robot easily by using the knee joints. Based on this design, we developed CPG (central pattern generator) model using Hopf oscillator for a multi-leg coupling model which possesses a ring-type CPG network composed of six CPG units. The advantage of the improved CPG model needs one Hopf oscillator for each leg that could improve the stability of the model. The model output signals are converted to the angular trajectories of the hip joint and the knee joint through a mapping function. Simulation and experiment show that the CPG network outputs stable and smooth signals with steady phase differences, which can achieve a smooth walking statue for the hexapod robot under the triangular gait mode.

关键词： Hexapod robot Four-bar linkage mechanism central pattern generators Hopf oscillator

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Control of traveling-wave oscillations and bifurcation behavior in central pattern generators

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Physical Review E 2012年第4期86卷 041914-041914页

作者： Alexandra S. Landsman Jean-Jacques Slotine Physics Department ETH Zurich CH-8093 Zurich Switzerland Nonlinear Systems and Brain Sciences Laboratory MIT Cambridge Massachusetts 02139 USA

Understanding synchronous and traveling-wave oscillations, particularly as they relate to transitions between different types of behavior, is a central problem in modeling biological systems. Here, we address this problem in the context of central pattern generators (CPGs). We use contraction theory to establish the global stability of a traveling-wave or synchronous oscillation, determined by the type of coupling. This opens the door to better design of coupling architectures to create the desired type of stable oscillations. We then use coupling that is both amplitude and phase dependent to create either globally stable synchronous or traveling-wave solutions. Using the CPG motor neuron network of a leech as an example, we show that while both traveling and synchronous oscillations can be achieved by several types of coupling, the transition between different types of behavior is dictated by a specific coupling architecture. In particular, it is only the “repulsive” but not the commonly used phase or rotational coupling that can explain the transition to high-frequency synchronous oscillations that have been observed in the heartbeat pattern generator of a leech. This shows that the overall dynamics of a CPG can be highly sensitive to the type of coupling used, even for coupling architectures that are widely believed to produce the same qualitative behavior.

关键词： TRAVELING waves (Physics) OSCILLATIONS BIFURCATION theory central pattern generators PHASE transformations (Physics) BIOLOGICAL systems

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Structural And Functional Locomotor Network Recovery In The Transected Spinal Cord Of Xenopus Laevis Tadpoles

Structural And Functional Locomotor Network Recovery In The ...

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作者： Sofia Anagianni University of Edinburgh

学位级别：博士

Spinal cord injury (SCI) in humans is detrimental and leads to varying degrees of sensory and motor impairments beyond the injury site due to the limited capacity of neuronal axons to regenerate and reconnect to their appropriate targets. In contrast, Xenopus laevis tadpoles demonstrate tremendous regenerative capabilities and achieve an almost complete recovery of locomotor function (swimming) after a spinal cord transection. Xenopus swimming activity is one of the rhythmic locomotor movements controlled by networks of spinal neurons termed as central pattern generators (CPGs). Locomotor CPGs range from simple networks with only a few neuronal members to highly complicated structures. However, little is known about how the CPG networks respond to injury. This thesis aims to investigate the recovery of the Xenopus swim CPG network following spinal transection by focusing on the extent of axonal regeneration through the lesion site and how this translates to functional recovery at the cellular and behavioural level. Xenopus tadpoles are excellent animal models for studying the repair of the spinal locomotor CPG network as it is much simpler than the mammalian system and has been extensively studied using in vivo preparations. The Xenopus embryonic CPG, at stage 37/38, is comprised of only four bilaterally represented neuronal types, excitatory descending interneurons (dIN), inhibitory ascending (aIN) and commissural (cIN) interneurons and motoneurons (mn). At this stage, tadpoles are already able to generate a rhythmic swimming behaviour. Following complete spinalisation, the tadpoles exhibited robust regeneration with both ascending and descending axons crossing the lesion site just one day later. Neuron proliferation was also increased and new-born neurons populated the area of the injury. Recovering tadpoles regained their swimming ability, however they did not reach control levels at one day post lesion since they displayed shorter swimming distance and lower spe

关键词： spinal cord injury Xenopus laevis central pattern generators CPGs swim CPG networks regenerative capabilities neuroregeneration

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From Spinal central pattern generators to Cortical Network: Integrated BCI for Walking Rehabilitation

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NEURAL PLASTICITY 2012年第2012期2012卷 375148-375148页

作者： Cheron, G. Duvinage, M. De Saedeleer, C. Castermans, T. Bengoetxea, A. Petieau, M. Seetharaman, K. Hoellinger, T. Dan, B. Dutoit, T. Labini, F. Sylos Lacquaniti, F. Ivanenko, Y. Univ Libre Bruxelles Lab Neurophysiol & Biomecan Mouvement B-1050 Brussels Belgium Univ Mons Lab Electrophysiol B-7000 Mons Belgium Univ Mons Fac Elect Engn TCTS Lab B-7000 Mons Belgium Univ Libre Bruxelles Hop Enfants Reine Fabiola Dept Neurol B-1050 Brussels Belgium Fdn Santa Lucia Inst Sci Dept Neuromotor Physiol I-00179 Rome Italy

Success in locomotor rehabilitation programs can be improved with the use of brain-computer interfaces (BCIs). Although a wealth of research has demonstrated that locomotion is largely controlled by spinal mechanisms, the brain is of utmost importance in monitoring locomotor patterns and therefore contains information regarding central pattern generation functioning. In addition, there is also a tight coordination between the upper and lower limbs, which can also be useful in controlling locomotion. The current paper critically investigates different approaches that are applicable to this field: the use of electroencephalogram (EEG), upper limb electromyogram (EMG), or a hybrid of the two neurophysiological signals to control assistive exoskeletons used in locomotion based on programmable central pattern generators (PCPGs) or dynamic recurrent neural networks (DRNNs). Plantar surface tactile stimulation devices combined with virtual reality may provide the sensation of walking while in a supine position for use of training brain signals generated during locomotion. These methods may exploit mechanisms of brain plasticity and assist in the neurorehabilitation of gait in a variety of clinical conditions, including stroke, spinal trauma, multiple sclerosis, and cerebral palsy.

关键词： ELECTROENCEPHALOGRAPHY BRAIN-computer interfaces CEREBRAL cortex NEURAL networks (Neurobiology) NEUROPHYSIOLOGY central pattern generators WALKING

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Stable biped locomotion using central pattern generators based on Matsuoka Neural Oscillators

Stable biped locomotion using central pattern generators bas...

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IET International Conference on Information Science and Control Engineering 2012 (ICISCE 2012)

作者： Vikas Panwar Rajeev Kumar Department of Applied Mathematics Gautam Buddha University Greater Noida India Nehru Institute of Engineering and Technology Coimbatore Tamil Nadu IN

ISBN: (纸本)9781629939254

In this paper we address a control framework using central pattern generators (CPG) for the stable rhythmic biped locomotion. The mutually inhibiting and coupled nonlinear Matsuoka Neural Oscillators are used to generate the required signals to realize the coordinated movement of a musculoskeletal model of biped robot with 6 degrees of freedom. The proposed design of the CPG is verified through simulation. We present a comparative study between the proposed model and Taga's CPG model to find more stable and effective walking for the biped robot.

关键词： Biped locomotion Matsuoka neural oscillators Stable motion Biped locomotion biped robot steady motion central pattern generators Oscillators Ability to make coordinated movements dynamos Locomotion Degree of freedom

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